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<div class="title">organized.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/common/projection_matrix.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">namespace </span>search</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html">   62</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">OrganizedNeighbor</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="comment">// public typedefs</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const std::vector&lt;int&gt; &gt; IndicesConstPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;pcl::search::OrganizedNeighbor&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const pcl::search::OrganizedNeighbor&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;::sorted_results_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#abd5620d255999eb1eb90fe01f6ad77f7">   88</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#abd5620d255999eb1eb90fe01f6ad77f7">OrganizedNeighbor</a> (<span class="keywordtype">bool</span> sorted_results = <span class="keyword">false</span>, <span class="keywordtype">float</span> eps = 1e-4f, <span class="keywordtype">unsigned</span> pyramid_level = 5)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          : <a class="code" href="classpcl_1_1search_1_1_search.html">Search</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (<span class="stringliteral">&quot;OrganizedNeighbor&quot;</span>, sorted_results)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          , <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a960c16a30ce5ae20096dc4f7f75ccd14">projection_matrix_</a> (Eigen::Matrix&lt;float, 3, 4, Eigen::RowMajor&gt;::Zero ())</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          , <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a5494b27882808395565d87a74fdd5551">KR_</a> (Eigen::Matrix&lt;float, 3, 3, Eigen::RowMajor&gt;::Zero ())</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          , <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#ab95decbae9ae03e6e9f265eebfd25e8a">KR_KRT_</a> (Eigen::Matrix&lt;float, 3, 3, Eigen::RowMajor&gt;::Zero ())</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          , <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aedb72502639ee44da3f315526d156af1">eps_</a> (eps)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          , <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#ab2842d49ead487ed71431decb82e92dd">pyramid_level_</a> (pyramid_level)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          , <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">mask_</a> ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#a7ffb1067a137ade76bef94c686a6f118">  100</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a7ffb1067a137ade76bef94c686a6f118">~OrganizedNeighbor</a> () {}</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#a496a1ee2dbc9352c8421dcba4e4adc13">  108</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a496a1ee2dbc9352c8421dcba4e4adc13">isValid</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="comment">// determinant (KR) = determinant (K) * determinant (R) = determinant (K) = f_x * f_y.</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <span class="comment">// If we expect at max an opening angle of 170degree in x-direction -&gt; f_x = 2.0 * width / tan (85 degree);</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="comment">// 2 * tan (85 degree) ~ 22.86</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          <span class="keywordtype">float</span> min_f = 0.043744332f * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(input_-&gt;width);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="comment">//std::cout &lt;&lt; &quot;isValid: &quot; &lt;&lt; determinant3x3Matrix&lt;Eigen::Matrix3f&gt; (KR_ / sqrt (KR_KRT_.coeff (8))) &lt;&lt; &quot; &gt;= &quot; &lt;&lt; (min_f * min_f) &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keywordflow">return</span> (determinant3x3Matrix&lt;Eigen::Matrix3f&gt; (<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a5494b27882808395565d87a74fdd5551">KR_</a> / std::sqrt (<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#ab95decbae9ae03e6e9f265eebfd25e8a">KR_KRT_</a>.coeff (8))) &gt;= (min_f * min_f));</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a71f164ebed3cb938a0ca8837ab6bc473">computeCameraMatrix</a> (Eigen::Matrix3f&amp; camera_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">  129</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud, <span class="keyword">const</span> IndicesConstPtr &amp;indices = IndicesConstPtr ())</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">mask_</a>.resize (input_-&gt;size ());</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          indices_ = indices;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          <span class="keywordflow">if</span> (indices_.get () != NULL &amp;&amp; indices_-&gt;size () != 0)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">mask_</a>.assign (input_-&gt;size (), 0);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices_-&gt;begin (); iIt != indices_-&gt;end (); ++iIt)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;              <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">mask_</a>[*iIt] = 1;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">mask_</a>.assign (input_-&gt;size (), 1);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aa96cb00f7008977d98bab6d02cb6bbd6">estimateProjectionMatrix</a> ();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a51cdc914c82f8b8e103cf86759bfe635">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q,</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                      <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                      std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aa96cb00f7008977d98bab6d02cb6bbd6">estimateProjectionMatrix</a> ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a66a84093ee2d0bfd384008e1f84dc57a">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                        <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                        std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a>&amp; q) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">  194</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">Entry</a></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          <a class="code" href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">Entry</a> (<span class="keywordtype">int</span> idx, <span class="keywordtype">float</span> dist) : index (idx), distance (dist) {}</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          <a class="code" href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">Entry</a> () : index (0), distance (0) {}</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          <span class="keywordtype">unsigned</span> index;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordtype">float</span> distance;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          operator &lt; (<span class="keyword">const</span> <a class="code" href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">Entry</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            <span class="keywordflow">return</span> (distance &lt; other.distance);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        };</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#a3b5ab71f0bc6408d881070d7fa2ff7ca">  216</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a3b5ab71f0bc6408d881070d7fa2ff7ca">testPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; query, <span class="keywordtype">unsigned</span> k, std::priority_queue&lt;Entry&gt;&amp; queue, <span class="keywordtype">unsigned</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = input_-&gt;points [index];</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">mask_</a> [index] &amp;&amp; pcl_isfinite (point.x))</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            <span class="comment">//float squared_distance = (point.getVector3fMap () - query.getVector3fMap ()).squaredNorm ();</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            <span class="keywordtype">float</span> dist_x = point.x - query.x;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            <span class="keywordtype">float</span> dist_y = point.y - query.y;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            <span class="keywordtype">float</span> dist_z = point.z - query.z;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            <span class="keywordtype">float</span> squared_distance = dist_x * dist_x + dist_y * dist_y + dist_z * dist_z;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;            <span class="keywordflow">if</span> (queue.size () &lt; k)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;              queue.push (<a class="code" href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">Entry</a> (index, squared_distance));</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (queue.top ().distance &gt; squared_distance)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;              queue.pop ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;              queue.push (<a class="code" href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">Entry</a> (index, squared_distance));</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;              <span class="keywordflow">return</span> <span class="keyword">true</span>; <span class="comment">// top element has changed!</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        clipRange (<span class="keywordtype">int</span>&amp; begin, <span class="keywordtype">int</span> &amp;end, <span class="keywordtype">int</span> min, <span class="keywordtype">int</span> max)<span class="keyword"> const</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          begin = std::max (std::min (begin, max), min);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          end   = std::min (std::max (end, min), max);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#ad4ddb15bafc95e87339a57e315e64397">getProjectedRadiusSearchBox</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">float</span> squared_radius, <span class="keywordtype">unsigned</span>&amp; minX, <span class="keywordtype">unsigned</span>&amp; minY,</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                                     <span class="keywordtype">unsigned</span>&amp; maxX, <span class="keywordtype">unsigned</span>&amp; maxY) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#a960c16a30ce5ae20096dc4f7f75ccd14">  259</a></span>&#160;        Eigen::Matrix&lt;float, 3, 4, Eigen::RowMajor&gt; <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a960c16a30ce5ae20096dc4f7f75ccd14">projection_matrix_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#a5494b27882808395565d87a74fdd5551">  262</a></span>&#160;        Eigen::Matrix&lt;float, 3, 3, Eigen::RowMajor&gt; <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a5494b27882808395565d87a74fdd5551">KR_</a>;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#ab95decbae9ae03e6e9f265eebfd25e8a">  265</a></span>&#160;        Eigen::Matrix&lt;float, 3, 3, Eigen::RowMajor&gt; <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#ab95decbae9ae03e6e9f265eebfd25e8a">KR_KRT_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#aedb72502639ee44da3f315526d156af1">  268</a></span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aedb72502639ee44da3f315526d156af1">eps_</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#ab2842d49ead487ed71431decb82e92dd">  271</a></span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#ab2842d49ead487ed71431decb82e92dd">pyramid_level_</a>;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        </div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">  274</a></span>&#160;        std::vector&lt;unsigned char&gt; <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">mask_</a>;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    };</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;}</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="preprocessor">#include &lt;pcl/search/impl/organized.hpp&gt;</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor</a></div><div class="ttdoc">OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.</div><div class="ttdef"><b>Definition:</b> organized.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a3b5ab71f0bc6408d881070d7fa2ff7ca"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a3b5ab71f0bc6408d881070d7fa2ff7ca">pcl::search::OrganizedNeighbor::testPoint</a></div><div class="ttdeci">bool testPoint(const PointT &amp;query, unsigned k, std::priority_queue&lt; Entry &gt; &amp;queue, unsigned index) const</div><div class="ttdoc">test if point given by index is among the k NN in results to the query point.</div><div class="ttdef"><b>Definition:</b> organized.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a496a1ee2dbc9352c8421dcba4e4adc13"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a496a1ee2dbc9352c8421dcba4e4adc13">pcl::search::OrganizedNeighbor::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdoc">Test whether this search-object is valid (input is organized AND from projective device) User should ...</div><div class="ttdef"><b>Definition:</b> organized.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a51cdc914c82f8b8e103cf86759bfe635"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a51cdc914c82f8b8e103cf86759bfe635">pcl::search::OrganizedNeighbor::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;p_q, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all neighbors of query point that are within a given radius.</div><div class="ttdef"><b>Definition:</b> organized.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a5494b27882808395565d87a74fdd5551"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a5494b27882808395565d87a74fdd5551">pcl::search::OrganizedNeighbor::KR_</a></div><div class="ttdeci">Eigen::Matrix&lt; float, 3, 3, Eigen::RowMajor &gt; KR_</div><div class="ttdoc">inveser of the left 3x3 projection matrix which is K * R (with K being the camera matrix and R the ro...</div><div class="ttdef"><b>Definition:</b> organized.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a66a84093ee2d0bfd384008e1f84dc57a"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a66a84093ee2d0bfd384008e1f84dc57a">pcl::search::OrganizedNeighbor::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;p_q, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for the k-nearest neighbors for a given query point.</div><div class="ttdef"><b>Definition:</b> organized.hpp:117</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a71f164ebed3cb938a0ca8837ab6bc473"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a71f164ebed3cb938a0ca8837ab6bc473">pcl::search::OrganizedNeighbor::computeCameraMatrix</a></div><div class="ttdeci">void computeCameraMatrix(Eigen::Matrix3f &amp;camera_matrix) const</div><div class="ttdoc">Compute the camera matrix</div><div class="ttdef"><b>Definition:</b> organized.hpp:330</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a7a5330aaf077e0833d59b51b23144996"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">pcl::search::OrganizedNeighbor::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input data set, if user has focal length he must set it before calling this</div><div class="ttdef"><b>Definition:</b> organized.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a7ffb1067a137ade76bef94c686a6f118"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a7ffb1067a137ade76bef94c686a6f118">pcl::search::OrganizedNeighbor::~OrganizedNeighbor</a></div><div class="ttdeci">virtual ~OrganizedNeighbor()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> organized.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a8ab81392a0445245244b1691bc39a0bb"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a8ab81392a0445245244b1691bc39a0bb">pcl::search::OrganizedNeighbor::mask_</a></div><div class="ttdeci">std::vector&lt; unsigned char &gt; mask_</div><div class="ttdoc">mask, indicating whether the point was in the indices list or not.</div><div class="ttdef"><b>Definition:</b> organized.h:274</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a960c16a30ce5ae20096dc4f7f75ccd14"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a960c16a30ce5ae20096dc4f7f75ccd14">pcl::search::OrganizedNeighbor::projection_matrix_</a></div><div class="ttdeci">Eigen::Matrix&lt; float, 3, 4, Eigen::RowMajor &gt; projection_matrix_</div><div class="ttdoc">the projection matrix. Either set by user or calculated by the first / each input cloud</div><div class="ttdef"><b>Definition:</b> organized.h:259</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_aa96cb00f7008977d98bab6d02cb6bbd6"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#aa96cb00f7008977d98bab6d02cb6bbd6">pcl::search::OrganizedNeighbor::estimateProjectionMatrix</a></div><div class="ttdeci">void estimateProjectionMatrix()</div><div class="ttdoc">estimated the projection matrix from the input cloud.</div><div class="ttdef"><b>Definition:</b> organized.hpp:337</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_ab2842d49ead487ed71431decb82e92dd"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#ab2842d49ead487ed71431decb82e92dd">pcl::search::OrganizedNeighbor::pyramid_level_</a></div><div class="ttdeci">const unsigned pyramid_level_</div><div class="ttdoc">using only a subsample of points to calculate the projection matrix. pyramid_level_ = use down sample...</div><div class="ttdef"><b>Definition:</b> organized.h:271</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_ab95decbae9ae03e6e9f265eebfd25e8a"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#ab95decbae9ae03e6e9f265eebfd25e8a">pcl::search::OrganizedNeighbor::KR_KRT_</a></div><div class="ttdeci">Eigen::Matrix&lt; float, 3, 3, Eigen::RowMajor &gt; KR_KRT_</div><div class="ttdoc">inveser of the left 3x3 projection matrix which is K * R (with K being the camera matrix and R the ro...</div><div class="ttdef"><b>Definition:</b> organized.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_abd5620d255999eb1eb90fe01f6ad77f7"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#abd5620d255999eb1eb90fe01f6ad77f7">pcl::search::OrganizedNeighbor::OrganizedNeighbor</a></div><div class="ttdeci">OrganizedNeighbor(bool sorted_results=false, float eps=1e-4f, unsigned pyramid_level=5)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> organized.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_aca8b03a28a893389fe2a2153c3f657a2"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">pcl::search::OrganizedNeighbor::projectPoint</a></div><div class="ttdeci">bool projectPoint(const PointT &amp;p, pcl::PointXY &amp;q) const</div><div class="ttdoc">projects a point into the image</div><div class="ttdef"><b>Definition:</b> organized.hpp:382</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_ad4ddb15bafc95e87339a57e315e64397"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#ad4ddb15bafc95e87339a57e315e64397">pcl::search::OrganizedNeighbor::getProjectedRadiusSearchBox</a></div><div class="ttdeci">void getProjectedRadiusSearchBox(const PointT &amp;point, float squared_radius, unsigned &amp;minX, unsigned &amp;minY, unsigned &amp;maxX, unsigned &amp;maxY) const</div><div class="ttdoc">Obtain a search box in 2D from a sphere with a radius in 3D</div><div class="ttdef"><b>Definition:</b> organized.hpp:273</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_aedb72502639ee44da3f315526d156af1"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#aedb72502639ee44da3f315526d156af1">pcl::search::OrganizedNeighbor::eps_</a></div><div class="ttdeci">const float eps_</div><div class="ttdoc">epsilon value for the MSE of the projection matrix estimation</div><div class="ttdef"><b>Definition:</b> organized.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class. All search wrappers must inherit from this.</div><div class="ttdef"><b>Definition:</b> search.h:75</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_html"><div class="ttname"><a href="structpcl_1_1_point_x_y.html">pcl::PointXY</a></div><div class="ttdoc">A 2D point structure representing Euclidean xy coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:720</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1search_1_1_organized_neighbor_1_1_entry_html"><div class="ttname"><a href="structpcl_1_1search_1_1_organized_neighbor_1_1_entry.html">pcl::search::OrganizedNeighbor::Entry</a></div><div class="ttdef"><b>Definition:</b> organized.h:195</div></div>
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